Azimuth Encoder Calcs

azimuthEncoder.java

public class Main {

  public static void main(String[] args) {
    minRotationIEEERemainder(4095, 1); // expect +2
    minRotationIEEERemainder(10 * 0x1000 + 4095, 1); // same, plus 10 revolutions
    minRotationIEEERemainder(-1024, 1024); // expect +/- 2048
    minRotationIEEERemainder(10 * 0x1000 - 1024, 1024); // same, plus 10 revolutions
    minRotationIEEERemainder(2730, 1365); // 240 -> 120 expect -120 (-1365)
    minRotationIEEERemainder(10 * 0x1000 + 2730, 1365); // 240 -> 120 expect -120 (-1365)

    minRotationMaskCurrent(4095, 1); // expect +2
    minRotationMaskCurrent(10 * 0x1000 + 4095, 1); // same, plus 10 revolutions
    minRotationMaskCurrent(-1024, 1024); // expect +/- 2048
    minRotationMaskCurrent(10 * 0x1000 - 1024, 1024); // same, plus 10 revolutions
    minRotationMaskCurrent(2730, 1365); // 240 -> 120 expect -120 (-1365)
    minRotationMaskCurrent(10 * 0x1000 + 2730, 1365); // 240 -> 120 expect -120 (-1365)

    minRotationMaskError(4095, 1); // expect +2
    minRotationMaskError(10 * 0x1000 + 4095, 1); // same, plus 10 revolutions
    minRotationMaskError(-1024, 1024); // expect +/- 2048
    minRotationMaskError(10 * 0x1000 - 1024, 1024); // same, plus 10 revolutions
    minRotationMaskError(2730, 1365); // 240 -> 120 expect -120 (-1365)
    minRotationMaskError(10 * 0x1000 + 2730, 1365); // 240 -> 120 expect -120 (-1365)
  }

  static void minRotationIEEERemainder(int current, int desired) {
    double rotation = Math.IEEEremainder(desired - current, 0x1000);
    System.out.printf(
        "IEEERemainder: current = %7d, desired = %7d, rotation = %7.0f%n",
        current, desired, rotation);
  }

  static void minRotationMaskCurrent(int current, int desired) {
    int rotation = desired - (current & 0xFFF);
    System.out.printf(
        "Mask Current:  current = %7d, desired = %7d, rotation = %7d%n",
        current, desired, rotation);
  }

  static void minRotationMaskError(int current, int desired) {
    int rotation = (desired - current) & 0xFFF;
    System.out.printf(
        "Mask Error:    current = %7d, desired = %7d, rotation = %7d%n",
        current, desired, rotation);
  }
}

/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/bin/java "-javaagent:/Applications/IntelliJ IDEA CE.app/Contents/lib/idea_rt.jar=59070:/Applications/IntelliJ IDEA CE.app/Contents/bin" -Dfile.encoding=UTF-8 -classpath /Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/charsets.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/deploy.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/ext/cldrdata.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/ext/dnsns.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/ext/jaccess.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/ext/jfxrt.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/ext/localedata.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/ext/nashorn.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/ext/sunec.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/ext/sunjce_provider.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/ext/sunpkcs11.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/ext/zipfs.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/javaws.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/jce.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/jfr.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/jfxswt.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/jsse.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/management-agent.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/plugin.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/resources.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/jre/lib/rt.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/lib/ant-javafx.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/lib/dt.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/lib/javafx-mx.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/lib/jconsole.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/lib/packager.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/lib/sa-jdi.jar:/Library/Java/JavaVirtualMachines/jdk1.8.0_181.jdk/Contents/Home/lib/tools.jar:/Users/jeff/sf/misc/untitled/out/production/untitled Main
IEEERemainder: current =    4095, desired =       1, rotation =       2
IEEERemainder: current =   45055, desired =       1, rotation =       2
IEEERemainder: current =   -1024, desired =    1024, rotation =    2048
IEEERemainder: current =   39936, desired =    1024, rotation =    2048
IEEERemainder: current =    2730, desired =    1365, rotation =   -1365
IEEERemainder: current =   43690, desired =    1365, rotation =   -1365
Mask Current:  current =    4095, desired =       1, rotation =   -4094 // long way
Mask Current:  current =   45055, desired =       1, rotation =   -4094 // long way
Mask Current:  current =   -1024, desired =    1024, rotation =   -2048
Mask Current:  current =   39936, desired =    1024, rotation =   -2048
Mask Current:  current =    2730, desired =    1365, rotation =   -1365
Mask Current:  current =   43690, desired =    1365, rotation =   -1365
Mask Error:    current =    4095, desired =       1, rotation =       2
Mask Error:    current =   45055, desired =       1, rotation =       2
Mask Error:    current =   -1024, desired =    1024, rotation =    2048
Mask Error:    current =   39936, desired =    1024, rotation =    2048
Mask Error:    current =    2730, desired =    1365, rotation =    2731 // long way
Mask Error:    current =   43690, desired =    1365, rotation =    2731 // long way

Process finished with exit code 0